Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario descargar pdf (Pagina 3)

Table Of Contents

1.0 Introduction ......................................................................1-1

2.0 Mechanical/Electrical Description..................................2-1

2.1 Mechanical Description............................................2-1

2.2 Electrical Description ...............................................2-3

3.0 Installation ........................................................................3-1

3.1 Wiring.......................................................................3-1

3.2 Initial Installation ......................................................3-1

3.3 Module Replacement.............................................3-11

4.0 Programming....................................................................4-1

4.1 Configuration ...........................................................4-2

4.2 Register 0: Encoder Setup.......................................4-3

4.3 Register 1: Drive Setup............................................4-4

4.4 Register 2: Switch Setup .........................................4-5

4.5 Register 3: Proportional Gain ..................................4-7

4.6 Register 4: Integral Gain..........................................4-7

4.7 Register 5: Velocity Gain .........................................4-7

4.8 Register 6: Feedforward Gain..................................4-8

4.9 Register 7: Deadband Compensation......................4-8

4.10 Register 8: Maximum Position Error........................4-9

4.11 Register 9: Maximum Velocity Error ........................4-9

4.12 Register 10: In-Position Tolerance ........................4-10

4.13 Registers 11, 12: Positive Overtravel Limit............4-10

4.14 Registers 13, 14: Negative Overtravel Limit ..........4-11

4.15 Registers 15,16: Low Speed

Homing Reference.................................................4-11

4.16 Registers 17,18: Command Position .....................4-12

4.17 Registers 19, 20: Command Velocity ....................4-13

4.18 Registers 21, 22: Command Acceleration .............4-13

4.19 Registers 23, 24: Command Deceleration.............4-14

4.20 Registers 25, 26: Gear Ratio .................................4-15

4.21 Register 27: User LEDs.........................................4-15

4.22 Register 28: Direct Drive Reference

Command ..............................................................4-16

Note: Register descriptions for equivalent X and Y axis

registers are exactly the same. Although sections of

Chapter 4 are titled by X axis register number, the

equivalent Y register is given in the figure that

accompanies each register description.

1 2 3 4 5 6 7 8 ... 121 122

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Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 3